/*
 * Copyright 2020 TierIV. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#pragma once
#include <ros/ros.h>
#include "autoware_perception_msgs/DynamicObjectWithFeatureArray.h"

class Debugger
{
public:
  Debugger();
  ~Debugger(){};
  ros::Publisher instance_pointcloud_pub_;
  void publishColoredPointCloud(
    const autoware_perception_msgs::DynamicObjectWithFeatureArray & input);

private:
  ros::NodeHandle nh_;
  ros::NodeHandle pnh_;
};